<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::TransformationFromCorrespondences类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1_transformation_from_correspondences.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_transformation_from_correspondences-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::TransformationFromCorrespondences类 参考<div class="ingroups"><a class="el" href="group__common.html">Common components</a></div></div>  </div>
</div><!--header-->
<div class="contents">

<p>Calculates a transformation based on corresponding 3D points  
 <a href="classpcl_1_1_transformation_from_correspondences.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="transformation__from__correspondences_8h_source.html">transformation_from_correspondences.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a7a6ea6590322dbd2c20642734f0bc270"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_transformation_from_correspondences.html#a7a6ea6590322dbd2c20642734f0bc270">TransformationFromCorrespondences</a> ()</td></tr>
<tr class="separator:a7a6ea6590322dbd2c20642734f0bc270"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0e56a515cfc27b64119ba147d358f63d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_transformation_from_correspondences.html#a0e56a515cfc27b64119ba147d358f63d">~TransformationFromCorrespondences</a> ()</td></tr>
<tr class="separator:a0e56a515cfc27b64119ba147d358f63d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a42b7f6b21ea1faf7b4de6381b06ff59e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_transformation_from_correspondences.html#a42b7f6b21ea1faf7b4de6381b06ff59e">reset</a> ()</td></tr>
<tr class="separator:a42b7f6b21ea1faf7b4de6381b06ff59e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4ca277e3ab376822843a837d4e2cb98"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_transformation_from_correspondences.html#af4ca277e3ab376822843a837d4e2cb98">getAccumulatedWeight</a> () const</td></tr>
<tr class="separator:af4ca277e3ab376822843a837d4e2cb98"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeff3e22c1c320c25f88697e44b0507c1"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_transformation_from_correspondences.html#aeff3e22c1c320c25f88697e44b0507c1">getNoOfSamples</a> ()</td></tr>
<tr class="separator:aeff3e22c1c320c25f88697e44b0507c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a156ee80d46da72d70f4a1411e9dd06f6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_transformation_from_correspondences.html#a156ee80d46da72d70f4a1411e9dd06f6">add</a> (const Eigen::Vector3f &amp;point, const Eigen::Vector3f &amp;corresponding_point, float weight=1.0)</td></tr>
<tr class="separator:a156ee80d46da72d70f4a1411e9dd06f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0126a0d3c7fcf5f762bd76359fffc95f"><td class="memItemLeft" align="right" valign="top">Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_transformation_from_correspondences.html#a0126a0d3c7fcf5f762bd76359fffc95f">getTransformation</a> ()</td></tr>
<tr class="separator:a0126a0d3c7fcf5f762bd76359fffc95f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a01bbe55bc7b54ab7f38f135b3ec0df51"><td class="memItemLeft" align="right" valign="top"><a id="a01bbe55bc7b54ab7f38f135b3ec0df51"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>no_of_samples_</b></td></tr>
<tr class="separator:a01bbe55bc7b54ab7f38f135b3ec0df51"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad308db1d718b3eb888debeace59b7272"><td class="memItemLeft" align="right" valign="top"><a id="ad308db1d718b3eb888debeace59b7272"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>accumulated_weight_</b></td></tr>
<tr class="separator:ad308db1d718b3eb888debeace59b7272"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1b91c742298336ce8df49a7670cc45da"><td class="memItemLeft" align="right" valign="top"><a id="a1b91c742298336ce8df49a7670cc45da"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><b>mean1_</b></td></tr>
<tr class="separator:a1b91c742298336ce8df49a7670cc45da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8253d67d083cb1f88cd14d03162d0100"><td class="memItemLeft" align="right" valign="top"><a id="a8253d67d083cb1f88cd14d03162d0100"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><b>mean2_</b></td></tr>
<tr class="separator:a8253d67d083cb1f88cd14d03162d0100"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a298ed0d785bde0b4999907e35fec5298"><td class="memItemLeft" align="right" valign="top"><a id="a298ed0d785bde0b4999907e35fec5298"></a>
Eigen::Matrix&lt; float, 3, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>covariance_</b></td></tr>
<tr class="separator:a298ed0d785bde0b4999907e35fec5298"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Calculates a transformation based on corresponding 3D points </p>
<dl class="section author"><dt>作者</dt><dd>Bastian Steder </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a7a6ea6590322dbd2c20642734f0bc270"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7a6ea6590322dbd2c20642734f0bc270">&#9670;&nbsp;</a></span>TransformationFromCorrespondences()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">pcl::TransformationFromCorrespondences::TransformationFromCorrespondences </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Constructor - dimension gives the size of the vectors to work with. </p>
<div class="fragment"><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                                             : </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;          no_of_samples_ (0), accumulated_weight_ (0), </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;          mean1_ (Eigen::Vector3f::Identity ()),</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;          mean2_ (Eigen::Vector3f::Identity ()),</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;          covariance_ (Eigen::Matrix&lt;float, 3, 3&gt;::Identity ())</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        { <a class="code" href="classpcl_1_1_transformation_from_correspondences.html#a42b7f6b21ea1faf7b4de6381b06ff59e">reset</a> (); }</div>
<div class="ttc" id="aclasspcl_1_1_transformation_from_correspondences_html_a42b7f6b21ea1faf7b4de6381b06ff59e"><div class="ttname"><a href="classpcl_1_1_transformation_from_correspondences.html#a42b7f6b21ea1faf7b4de6381b06ff59e">pcl::TransformationFromCorrespondences::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition:</b> transformation_from_correspondences.hpp:42</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a0e56a515cfc27b64119ba147d358f63d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0e56a515cfc27b64119ba147d358f63d">&#9670;&nbsp;</a></span>~TransformationFromCorrespondences()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">pcl::TransformationFromCorrespondences::~TransformationFromCorrespondences </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Destructor </p>
<div class="fragment"><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{ };</div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a156ee80d46da72d70f4a1411e9dd06f6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a156ee80d46da72d70f4a1411e9dd06f6">&#9670;&nbsp;</a></span>add()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::TransformationFromCorrespondences::add </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>corresponding_point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>weight</em> = <code>1.0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Add a new sample </p>
<div class="fragment"><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">if</span> (weight==0.0f)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  ++no_of_samples_;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  accumulated_weight_ += weight;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">float</span> alpha = weight/accumulated_weight_;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  Eigen::Vector3f diff1 = point - mean1_, diff2 = corresponding_point - mean2_;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  covariance_ = (1.0f-alpha)*(covariance_ + alpha * (diff2 * diff1.transpose()));</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  mean1_ += alpha*(diff1);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  mean2_ += alpha*(diff2);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="af4ca277e3ab376822843a837d4e2cb98"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af4ca277e3ab376822843a837d4e2cb98">&#9670;&nbsp;</a></span>getAccumulatedWeight()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">float pcl::TransformationFromCorrespondences::getAccumulatedWeight </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Get the summed up weight of all added vectors </p>
<div class="fragment"><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{ <span class="keywordflow">return</span> accumulated_weight_;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="aeff3e22c1c320c25f88697e44b0507c1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aeff3e22c1c320c25f88697e44b0507c1">&#9670;&nbsp;</a></span>getNoOfSamples()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">unsigned int pcl::TransformationFromCorrespondences::getNoOfSamples </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Get the number of added vectors </p>
<div class="fragment"><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;{ <span class="keywordflow">return</span> no_of_samples_;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a0126a0d3c7fcf5f762bd76359fffc95f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0126a0d3c7fcf5f762bd76359fffc95f">&#9670;&nbsp;</a></span>getTransformation()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">Eigen::Affine3f pcl::TransformationFromCorrespondences::getTransformation </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Calculate the transformation that will best transform the points into their correspondences </p>
<div class="fragment"><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;{</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">//Eigen::JacobiSVD&lt;Eigen::Matrix&lt;float, 3, 3&gt; &gt; svd (covariance_, Eigen::ComputeFullU | Eigen::ComputeFullV);</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  Eigen::JacobiSVD&lt;Eigen::Matrix&lt;float, 3, 3&gt; &gt; svd (covariance_, Eigen::ComputeFullU | Eigen::ComputeFullV);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">const</span> Eigen::Matrix&lt;float, 3, 3&gt;&amp; u = svd.matrixU(),</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                                   &amp; v = svd.matrixV();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  Eigen::Matrix&lt;float, 3, 3&gt; s;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  s.setIdentity();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">if</span> (u.determinant()*v.determinant() &lt; 0.0f)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    s(2,2) = -1.0f;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  Eigen::Matrix&lt;float, 3, 3&gt; r = u * s * v.transpose();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  Eigen::Vector3f t = mean2_ - r*mean1_;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  Eigen::Affine3f ret;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  ret(0,0)=r(0,0); ret(0,1)=r(0,1); ret(0,2)=r(0,2); ret(0,3)=t(0);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  ret(1,0)=r(1,0); ret(1,1)=r(1,1); ret(1,2)=r(1,2); ret(1,3)=t(1);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  ret(2,0)=r(2,0); ret(2,1)=r(2,1); ret(2,2)=r(2,2); ret(2,3)=t(2);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  ret(3,0)=0.0f;   ret(3,1)=0.0f;   ret(3,2)=0.0f;   ret(3,3)=1.0f;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">return</span> (ret);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a42b7f6b21ea1faf7b4de6381b06ff59e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a42b7f6b21ea1faf7b4de6381b06ff59e">&#9670;&nbsp;</a></span>reset()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::TransformationFromCorrespondences::reset </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Reset the object to work with a new data set </p>
<div class="fragment"><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  no_of_samples_ = 0;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  accumulated_weight_ = 0.0;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  mean1_.fill(0);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  mean2_.fill(0);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  covariance_.fill(0);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>common/include/pcl/common/<a class="el" href="transformation__from__correspondences_8h_source.html">transformation_from_correspondences.h</a></li>
<li>common/include/pcl/common/impl/<a class="el" href="transformation__from__correspondences_8hpp_source.html">transformation_from_correspondences.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_transformation_from_correspondences.html">TransformationFromCorrespondences</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
